small fix

2014-02-16 16:05:01 -05:00 · 2014-02-16 16:05:01 -05:00 · 8b6bb80cec
parent f804fd9bd1
commit 8b6bb80cec
1 changed files with 1 additions and 1 deletions
--- a/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
+++ b/gtsam/nonlinear/LevenbergMarquardtOptimizer.cpp
@ -123,7 +123,7 @@ void LevenbergMarquardtOptimizer::iterate() {
        Matrix A = Matrix::Identity(dim, dim);
        //Replace the identity matrix with diagonal of Hessian
        if (params_.diagonalDamping) {
-           A.diagonal() = hessianDiagonal.at(key_value.key)*state_.lambda;
+           A.diagonal() = hessianDiagonal.at(key_value.key);
           for (int aa=0; aa<dim; aa++)
           {
        	   A(aa,aa)=sqrt(A(aa,aa));